Vehicle assisted driving method and device

Abstract

Embodiments of the present invention provide a method and apparatus for vehicle assisted driving. The method comprises: upon detecting that a target vehicle has activated assisted driving, obtaining the map status of one or more associated maps for the assisted driving; determining the road grade of the target vehicle's current road; determining a target assisted driving mode for the target vehicle based on the map status and / or road grade; and initiating assisted driving according to the target assisted driving mode. Through embodiments of the present invention, assisted driving can be safely initiated in map overlap areas, avoiding vehicle accidents.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle assisted driving, and in particular to a method and device for vehicle assisted driving. Background Art

[0002] Assisted driving is an assisted driving system that can be implemented based on high-precision maps. It can support automatic driving according to the navigation route set by the user. During driving, it can realize automatic overtaking, automatic on and off ramps, intelligent speed limit, etc.

[0003] To address the different road characteristics of highways and urban roads, two different assisted driving modes can be configured in the vehicle. These two assisted driving modes rely on different high-precision map elements, map usage methods, and implementation logic. For example, in the assisted driving mode for highways, the maximum speed limit is generally 120 km / h; in the assisted driving mode for urban roads, the maximum speed limit is generally 80 km / h. Furthermore, the acceleration and deceleration logic caused by the speed limit is completely different. Highways are closed roads, with high speeds and long following distances, so drastic deceleration is generally not required, otherwise it can lead to an uneasy driving experience. In urban scenes, pedestrians and non-motorized vehicles often appear suddenly, requiring emergency braking capabilities. In terms of map usage, the assisted driving mode for highways uses the Electronic Horizon Provider (EHP) to obtain map data for the vehicle's path ahead, while the assisted driving mode for urban roads uses the grid-loaded Map Application Programming Interface (MapAPI) to obtain map data around the vehicle.

[0004] In actual application, the two assisted driving modes exist relatively independently during vehicle operation. When the user turns on assisted driving, it may cause vehicle logic confusion, making it impossible to determine which assisted driving mode the vehicle should currently use, especially in areas where multiple maps overlap, which can easily lead to vehicle safety accidents. Summary of the Invention

[0005] In view of the above problems, a method and device for vehicle assisted driving is proposed to overcome the above problems or at least partially solve the above problems, including:

[0006] A vehicle assisted driving method, the method comprising:

[0007] When detecting that the target vehicle activates assisted driving, obtaining a map status of one or more associated maps of the assisted driving;

[0008] Determining the road grade of the road on which the target vehicle is currently located;

[0009] determining a target assisted driving mode for the target vehicle according to the map state and / or the road grade;

[0010] The assisted driving is started according to the target assisted driving mode.

[0011] Optionally, it also includes:

[0012] During the assisted driving of the target vehicle, obtaining navigation route information of the target vehicle;

[0013] When detecting that sections of different road grades exist in the navigation route information, determining a switching point of the target assisted driving mode;

[0014] When the target vehicle travels to the switching point, the target assisted driving mode is switched to the assisted driving mode corresponding to the next road segment.

[0015] Optionally, the multiple associated maps include a first map and a second map, and determining the target assisted driving mode of the target vehicle according to the map state and / or the road grade includes:

[0016] When the map states of the first map and the second map are both normal, and when the road grade is a first preset road grade, determining that the target assisted driving mode of the target vehicle is the first preset assisted driving mode;

[0017] When the road grade is a second preset road grade, the target assisted driving mode of the target vehicle is determined to be the second preset assisted driving mode.

[0018] Optionally, the multiple associated maps include a first map and a second map, and determining the target assisted driving mode of the target vehicle according to the map state and / or the road grade includes:

[0019] When the map state of the first map is a normal state, and the map states of the second map are both abnormal states, it is determined that the target assisted driving mode of the target vehicle is a first preset assisted driving mode.

[0020] Optionally, the multiple associated maps include a first map and a second map, and determining the target assisted driving mode of the target vehicle according to the map state and / or the road grade includes:

[0021] When the map status of the first map is abnormal and the map status of the second map is normal, and when the road grade is a first preset road grade, exiting the assisted driving;

[0022] When the road grade is a second preset road grade, the target assisted driving mode is determined to be the second preset assisted driving mode.

[0023] Optionally, determining the switching point of the target assisted driving mode includes:

[0024] Determining whether there is a target toll station between road sections of different road grades in the navigation route information;

[0025] When it is determined that a target toll station exists between road sections of different road grades in the navigation route information, determining the target toll station as a switching point for the target assisted driving mode;

[0026] When it is determined that there is no target toll station between road sections of different road grades in the navigation route information, a switching point of the target assisted driving mode is determined according to the road section type in the navigation route information.

[0027] A vehicle assisted driving device, comprising:

[0028] A map status acquisition module, configured to acquire the map status of one or more associated maps for the assisted driving when detecting that the target vehicle has activated the assisted driving;

[0029] A road grade determination module, configured to determine the road grade of the road on which the target vehicle is currently located;

[0030] an assisted driving mode determination module, configured to determine a target assisted driving mode of the target vehicle according to the map state and / or the road grade;

[0031] The assisted driving starting module is used to start the assisted driving according to the target assisted driving mode.

[0032] Optionally, the device further comprises:

[0033] A navigation route acquisition module is used to obtain navigation route information of the target vehicle during the assisted driving process of the target vehicle;

[0034] a switching point determination module, configured to determine a switching point of the target assisted driving mode when detecting that sections of different road grades exist in the navigation route information;

[0035] A mode switching module is used to switch the target assisted driving mode to the assisted driving mode corresponding to the next road segment when the target vehicle travels to the switching point.

[0036] Optionally, the multiple associated maps include a first map and a second map, and the assisted driving mode determination module includes:

[0037] a first mode determination submodule, configured to, when the map states of the first map and the second map are both normal and the road grade is a first preset road grade, determine that the target assisted driving mode of the target vehicle is the first preset assisted driving mode;

[0038] The second mode determination submodule is configured to determine, when the road grade is a second preset road grade, that the target assisted driving mode of the target vehicle is the second preset assisted driving mode.

[0039] Optionally, the switching point determination module includes:

[0040] A judgment submodule, configured to judge whether there is a target toll station between sections of different road grades in the navigation route information;

[0041] a first switching point submodule, configured to, when determining that a target toll station exists between road sections of different road grades in the navigation route information, determine the target toll station as a switching point for the target assisted driving mode;

[0042] The second switching point submodule is used to determine the switching point of the target assisted driving mode according to the road segment type in the navigation route information when it is determined that there is no target toll station between the road segments of different road grades in the navigation route information.

[0043] A vehicle comprises a processor, a memory, and a computer program stored in the memory and capable of running on the processor, wherein the computer program, when executed by the processor, implements the vehicle assisted driving method as described above.

[0044] A computer-readable storage medium stores a computer program, which, when executed by a processor, implements the vehicle assisted driving method described above.

[0045] The embodiments of the present invention have the following advantages:

[0046] The embodiment of the present invention obtains the map status of one or more associated maps of the assisted driving and determines the road grade of the road on which the target vehicle is currently located when detecting that the target vehicle has activated assisted driving, thereby determining the target assisted driving mode of the target vehicle based on the map status and / or the road grade, and starting assisted driving according to the target assisted driving mode, thereby achieving the safe startup of assisted driving in the map overlap area and avoiding vehicle safety accidents.

[0047] Furthermore, when there are sections of different road grades in the navigation route information, the assisted driving mode is switched to ensure a continuous assisted driving experience while ensuring safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In order to more clearly illustrate the technical solution of the present invention, the following briefly introduces the drawings required for use in the description of the present invention. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0049] Figure 1 This is a flowchart of a method for assisted vehicle driving provided by one embodiment of the present invention;

[0050] Figure 2a This is a flowchart of another method for assisted vehicle driving provided by one embodiment of the present invention;

[0051] Figure 2b This is a schematic diagram of a switching point selection provided by an embodiment of the present invention;

[0052] Figure 2c This is another switching point selection diagram provided by an embodiment of the present invention;

[0053] Figure 3 This is a flowchart of the steps of another vehicle assisted driving method provided by one embodiment of the present invention;

[0054] Figure 4 This is a flowchart of the steps of another vehicle assisted driving method provided by one embodiment of the present invention;

[0055] Figure 5 This is a flowchart of the steps of another vehicle assisted driving method provided by one embodiment of the present invention;

[0056] Figure 6 It is a structural diagram of a vehicle assisted driving device provided by one embodiment of the present invention. DETAILED DESCRIPTION

[0057] To make the above-mentioned objects, features, and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the embodiments described are only a portion of the embodiments of the present invention, not all of them. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without inventive effort are also within the scope of protection of the present invention.

[0058] Reference Figure 1 , which shows a flowchart of a method for vehicle assisted driving provided by an embodiment of the present invention, which may specifically include the following steps:

[0059] Step 101: when it is detected that a target vehicle activates assisted driving, obtaining a map status of one or more associated maps of the assisted driving;

[0060] In one example, the associated map includes a first map and / or a second map, and the target assisted driving mode includes a first preset assisted driving mode and / or a second preset assisted driving mode.

[0061] Among them, the first map can use the electronic horizon (EHP) method to obtain map data on the path ahead of the vehicle, and the second map can be a grid-loaded Map API method to obtain map data around the vehicle. The first preset assisted driving mode can be an assisted driving mode for highways, and the second preset assisted driving mode can be an assisted driving mode for urban roads.

[0062] It should be noted that the method for obtaining the associated map in the embodiment of the present invention is not limited to the method for obtaining the first map and / or the second map listed above, but can also be other methods for obtaining the vehicle map; the first preset driving mode and / or the second preset driving mode can be assisted driving modes pre-set for road driving characteristics of different roads, and are not limited to the assisted driving mode for highways and the assisted driving mode for urban roads in the above examples. Users can set specific assisted driving modes according to actual needs.

[0063] During vehicle driving, the assisted driving function enables the vehicle to extract environmental information around the vehicle through its own various types of sensor equipment, and determine the vehicle's position in the environment, so as to plan and execute plans based on the various environments encountered by the vehicle on the road.

[0064] When a user activates a vehicle's assisted driving function while driving, the vehicle may have different assisted driving modes. Therefore, it is necessary to determine the assisted driving mode currently applicable to the target vehicle at the time of activation. Therefore, when the assisted driving function is activated, the target vehicle can first obtain the associated map for assisted driving and determine the map status of the associated map.

[0065] Among them, the user can activate the assisted driving function of the target vehicle by pressing, touching, voice control, etc. In the embodiment of the present invention, there are not too many restrictions on the activation method of the assisted driving of the user's vehicle.

[0066] Among them, the map status can include a normal state or an abnormal state. When the map status is a normal state, the target vehicle can retrieve the target map through a preset method; when the map status is an abnormal state, the target vehicle cannot retrieve the target map through a preset method.

[0067] For example, an EHP state of “TURE” may indicate that the map state of the first map is normal.

[0068] The EHP status of “FALSE” may indicate that the map status of the first map is an abnormal state.

[0069] The MapAPI status of “TURE” may indicate that the map status of the second map is normal.

[0070] The MapAPI status of “FALSE” may indicate that the map status of the second map is abnormal.

[0071] Step 102, determining the road grade of the road on which the target vehicle is currently located;

[0072] When the user activates the assisted driving of the target vehicle, the target vehicle can also obtain the positioning of the target vehicle to determine the current road of the target vehicle and then determine the road grade of the road in order to determine the appropriate assisted driving mode.

[0073] Among them, road grades can be divided into first road grade, second road grade, etc.

[0074] In one example, the road indicated by the first road grade is a highway, and the road indicated by the second road grade is a city expressway or a city ordinary road.

[0075] It should be noted that step 102 may occur after step 101; in addition, step 102 and step 101 may also be parallel steps.

[0076] Step 103: determining a target assisted driving mode for the target vehicle according to the map state and / or the road grade;

[0077] After determining the map status and road grade, the target assisted driving mode that can be activated for the target vehicle can be determined based on the maps available to the target vehicle and the vehicle's current road grade. Thus, even if the target vehicle is in an area where multiple maps overlap, the target vehicle can determine the optimal assisted driving mode to avoid safety accidents caused by vehicle logic confusion.

[0078] Step 104: Start assisted driving according to the target assisted driving mode.

[0079] After the assisted driving mode of the target vehicle is determined, the target vehicle can start assisted driving according to the assisted driving mode.

[0080] In an embodiment of the present invention, when detecting that a target vehicle has activated assisted driving, the map status of one or more associated maps of the assisted driving is obtained, thereby determining the road grade of the road on which the target vehicle is currently located, and determining the target assisted driving mode of the target vehicle based on the map status and / or the road grade, thereby starting assisted driving according to the target assisted driving mode, thereby achieving the safe start of assisted driving in the map overlap area and avoiding vehicle safety accidents.

[0081] Reference Figure 2a , shows a flowchart of another method for vehicle assisted driving provided by an embodiment of the present invention, which may specifically include the following steps:

[0082] Step 201: When it is detected that the target vehicle activates the assisted driving, the map status of one or more associated maps of the assisted driving is obtained;

[0083] Step 202, determining the road grade of the road on which the target vehicle is currently located;

[0084] Step 203: determining a target assisted driving mode for the target vehicle according to the map state and / or the road grade;

[0085] Step 204: Start assisted driving according to the target assisted driving mode.

[0086] Step 205: obtaining navigation route information of the target vehicle during the assisted driving process of the target vehicle;

[0087] After the target vehicle turns on assisted driving, the navigation route information of the target vehicle can be obtained, wherein the navigation route information may include route information from the current position of the target vehicle to the destination position, and the route information may include one or more road sections, as well as road grade information of each road section.

[0088] Step 206 , when detecting that sections of different road grades exist in the navigation route information, determining a switching point of the target assisted driving mode;

[0089] After obtaining the navigation route information, it can be determined whether the navigation route information contains sections of two or more road grades. When the navigation route information only contains roads of one road grade, the target vehicle does not need to switch to the assisted driving mode in this navigation route; when the navigation route information contains sections of two or more road grades, the target vehicle needs to switch to the assisted driving mode in this navigation route, so that the switching point of the target assisted driving mode needs to be determined in the navigation route so that the target vehicle can smoothly switch modes during the assisted driving process, providing users with a more complete and smooth assisted driving experience.

[0090] In one embodiment of the present invention, step 206 may include the following sub-steps:

[0091] Sub-step 2061, determining whether there is a target toll station between road sections of different road grades in the navigation route information;

[0092] In actual application, after obtaining the navigation route information, when there are two or more road sections of different grades in the navigation route information, since the assisted driving modes applicable to the road grades are different, it is necessary to determine the switching point for switching the assisted driving mode in the early navigation route, so as to further determine whether the navigation route information contains the target toll station, and determine the switching point of the assisted driving mode according to the target toll station.

[0093] Sub-step 2062, when it is determined that a target toll station exists between road sections of different road grades in the navigation route information, determining the target toll station as a switching point for the target assisted driving mode;

[0094] When a target toll station exists in the navigation route information, the target toll station may be located at the junction of two road sections of different road grades, so that the target toll station may be determined as a switching point for the assisted driving mode.

[0095] like Figure 2b As shown, the navigation route of the target vehicle includes urban road 1, expressway, and urban road 2 in sequence. Toll station 1 is set on the ramp connecting urban road 1 and expressway, and toll station 2 is set on the ramp connecting expressway and urban road 2, so that toll station 1 and toll station 2 are determined as switching points of the assisted driving mode.

[0096] Thus, the target vehicle drives on urban road 1 in the assisted driving mode for urban roads. When at toll station 1, the assisted driving mode for urban roads is switched to the assisted driving mode for highways, and the assisted driving mode for highways is adopted on the highway. When the target vehicle arrives at toll station 2, the assisted driving mode for highways is switched to the assisted driving mode for urban roads, and the assisted driving mode for urban roads is continued on urban road 2.

[0097] Sub-step 2063, when it is determined that there is no target toll station between sections of different road grades in the navigation route information, determining the switching point of the target assisted driving mode according to the section type in the navigation route information.

[0098] When the target toll station does not exist in the navigation route information, the road segment type of each road segment in the navigation route information may be determined, wherein the road segment type may include a straight road segment, a curved road segment, and the like.

[0099] After determining the road type of each road section, the switching point of the target assisted driving mode can be determined according to the road type. For example, the switching point can be set on a straight road section to avoid safety risks caused by switching on a curve with large curvature.

[0100] like Figure 2c As shown in Figure 2, when there is no toll booth on the ramp entering or exiting the highway, a point on the straight road can be selected as the switching point of the assisted driving mode, that is, Figure 2c Specifically, when the target vehicle enters the highway ramp from point A and reaches point B, the assisted driving mode for urban roads is switched to the assisted driving mode for highways. When the vehicle exits the highway ramp from point C and reaches point D, the assisted driving mode for highways is switched to the assisted driving mode for urban roads.

[0101] Step 207 : When the target vehicle reaches the switching point, the target assisted driving mode is switched to the assisted driving mode corresponding to the next road segment.

[0102] In an embodiment of the present invention, the target vehicle is determined by map status and road grade to automatically select a suitable assisted driving mode when the assisted driving function is activated. During the assisted driving process, the navigation route information of the target vehicle is combined to implement switching of the assisted driving mode in sections with different road grades, thereby ensuring the driving safety of the target vehicle during the assisted driving process and improving the user's assisted driving experience.

[0103] Reference Figure 3 , shows a flowchart of another method for vehicle assisted driving provided by an embodiment of the present invention, which may specifically include the following steps:

[0104] Step 301: When it is detected that the target vehicle activates assisted driving, the map status of multiple associated maps of the assisted driving is obtained; the multiple associated maps include a first map and a second map;

[0105] Step 302, determining the road grade of the road on which the target vehicle is currently located;

[0106] Step 303: When the map states of the first map and the second map are both normal, and when the road grade is a first preset road grade, determining that the target assisted driving mode of the target vehicle is the first preset assisted driving mode;

[0107] Among them, the first map can use the electronic horizon (EHP) method to obtain map data on the path ahead of the vehicle, and the second map can be a grid-loaded Map API method to obtain map data around the vehicle. The first preset assisted driving mode can be an assisted driving mode for highways, and the second preset assisted driving mode can be an assisted driving mode for urban roads.

[0108] For example: when the target vehicle activates the assisted driving function, the EHP status is "TURE" and the Map API status is "TURE", indicating that the first map is in normal state and the second map is also in normal state. At this time, the target vehicle is driving on a road of the first preset road level (such as a highway), and the target vehicle can select the assisted driving mode for the highway.

[0109] Step 304 : When the map states of the first map and the second map are both normal, and when the road grade is a second preset road grade, determining that the target assisted driving mode of the target vehicle is the second preset assisted driving mode.

[0110] For example: when the target vehicle activates the assisted driving function, the EHP status is "TURE" and the Map API status is "TURE", indicating that the first map is in normal state and the second map is also in normal state. At this time, the target vehicle is driving on a road of the second preset road level (such as an urban expressway), and the target vehicle can select the assisted driving mode for urban roads.

[0111] It should be noted that step 303 and step 304 are parallel steps.

[0112] Step 305: Start assisted driving according to the target assisted driving mode.

[0113] In an embodiment of the present invention, when the map states of the first map and the second map are both normal, the assisted driving mode applicable to the vehicle can be determined according to the road grade of the road section where the vehicle is located to ensure the safety of the vehicle during the assisted driving process.

[0114] Reference Figure 4 , shows a flowchart of another method for vehicle assisted driving provided by an embodiment of the present invention, which may specifically include the following steps:

[0115] Step 401: When it is detected that the target vehicle activates the assisted driving, the map status of multiple associated maps of the assisted driving is obtained; the multiple associated maps include a first map and a second map;

[0116] Step 402 : When the map status of the first map is normal and the map statuses of the second maps are both abnormal, determining that the target assisted driving mode of the target vehicle is a first preset assisted driving mode.

[0117] Among them, the first map can use the electronic horizon (EHP) method to obtain map data on the path ahead of the vehicle, and the second map can be a grid-loaded Map API method to obtain map data around the vehicle. The first preset assisted driving mode can be an assisted driving mode for highways, and the second preset assisted driving mode can be an assisted driving mode for urban roads.

[0118] For example, when the target vehicle activates the assisted driving function, the EHP status is "TURE" and the Map API status is "FALSE", indicating that the first map is in a normal state and the second map is also in an abnormal state. At this time, it can be determined that the road described by the target vehicle is a road of the first preset road level (such as a highway), and thus the target vehicle selects the assisted driving mode for the highway.

[0119] Step 403: Start assisted driving according to the target assisted driving mode.

[0120] In an embodiment of the present invention, when the map status of the first map is normal and the map status of the second map is abnormal, the assisted driving mode applicable to the vehicle can be determined according to the road grade of the road section where the vehicle is located to ensure the safety of the vehicle during the assisted driving process.

[0121] Reference Figure 5 , shows a flowchart of another method for vehicle assisted driving provided by an embodiment of the present invention, which may specifically include the following steps:

[0122] Step 501: When it is detected that the target vehicle activates assisted driving, the map status of multiple associated maps of the assisted driving is obtained; the multiple associated maps include a first map and a second map;

[0123] Step 502, determining the road grade of the road on which the target vehicle is currently located;

[0124] Step 503: when the map status of the first map is abnormal and the map status of the second map is normal, and when the road grade is a first preset road grade, exit the assisted driving;

[0125] Among them, the first map can use the electronic horizon (EHP) method to obtain map data on the path ahead of the vehicle, and the second map can be a grid-loaded Map API method to obtain map data around the vehicle. The first preset assisted driving mode can be an assisted driving mode for highways, and the second preset assisted driving mode can be an assisted driving mode for urban roads.

[0126] For example, when the target vehicle activates the assisted driving function, the EHP status is "FALSE" and the Map API status is "TURE", indicating that the first map is in an abnormal state and the second map is also in a normal state. If the road described by the target vehicle is a road of the first preset road level (such as a highway), since the first map cannot be called, and there are safety hazards in using the second map on the highway, the target vehicle cannot continue to use assisted driving and needs to exit assisted driving, and the driver of the target vehicle takes over the target vehicle.

[0127] Step 504 : When the map status of the first map is abnormal and the map statuses of the second map are both normal, and when the road grade is a second preset road grade, determining that the target assisted driving mode is the second preset assisted driving mode.

[0128] For example, when the target vehicle activates the assisted driving function, the EHP status is "FALSE" and the Map API status is "TURE", indicating that the first map is in an abnormal state and the second map is also in a normal state. If the road described by the target vehicle is a road of the second preset road level (such as an urban expressway or an ordinary urban road), the target vehicle can select the assisted driving mode for urban roads.

[0129] Step 505: Start assisted driving according to the target assisted driving mode.

[0130] In an embodiment of the present invention, when the map status of the first map is abnormal and the map status of the second map is normal, the assisted driving mode applicable to the vehicle can be determined according to the road grade of the road section where the vehicle is located to ensure the safety of the vehicle during the assisted driving process.

[0131] It should be noted that for the sake of simplicity, the method embodiments are described as a series of actions. However, those skilled in the art should be aware that the embodiments of the present invention are not limited by the order of the actions described, because according to the embodiments of the present invention, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in this specification are all preferred embodiments, and the actions involved are not necessarily required by the embodiments of the present invention.

[0132] Reference Figure 6, which shows a schematic structural diagram of a vehicle driving assistance device provided by an embodiment of the present invention, which may specifically include the following modules:

[0133] A map status acquisition module 601 is configured to acquire the map status of one or more associated maps for the assisted driving when detecting that the target vehicle has activated the assisted driving;

[0134] A road grade determination module 602 is configured to determine the road grade of the road on which the target vehicle is currently located;

[0135] an assisted driving mode determination module 603, configured to determine a target assisted driving mode of the target vehicle according to the map state and / or the road grade;

[0136] The assisted driving starting module 604 is configured to start the assisted driving according to the target assisted driving mode.

[0137] In one embodiment of the present invention, the apparatus may further include:

[0138] A navigation route acquisition module is used to obtain navigation route information of the target vehicle during the assisted driving process of the target vehicle;

[0139] a switching point determination module, configured to determine a switching point of the target assisted driving mode when detecting that sections of different road grades exist in the navigation route information;

[0140] A mode switching module is used to switch the target assisted driving mode to the assisted driving mode corresponding to the next road segment when the target vehicle travels to the switching point.

[0141] In one embodiment of the present invention, the multiple associated maps include a first map and a second map, and the assisted driving mode determination module 603 may include:

[0142] a first mode determination submodule, configured to, when the map states of the first map and the second map are both normal and the road grade is a first preset road grade, determine that the target assisted driving mode of the target vehicle is the first preset assisted driving mode;

[0143] The second mode determination submodule is configured to determine, when the road grade is a second preset road grade, that the target assisted driving mode of the target vehicle is the second preset assisted driving mode.

[0144] In one embodiment of the present invention, the multiple associated maps include a first map and a second map, and the assisted driving mode determination module 603 may include:

[0145] The third mode determination submodule is configured to determine that the target assisted driving mode of the target vehicle is a first preset assisted driving mode when the map state of the first map is normal and the map states of the second map are both abnormal.

[0146] In one embodiment of the present invention, the multiple associated maps include a first map and a second map, and the assisted driving mode determination module 603 may include:

[0147] a fourth mode determination submodule, configured to, when the map state of the first map is abnormal and the map states of the second map are both normal, exit the target assisted driving mode when the road grade is a first preset road grade;

[0148] The fifth mode determination submodule is configured to determine, when the road grade is a second preset road grade, that the target assisted driving mode is a second preset assisted driving mode.

[0149] In one embodiment of the present invention, the switching point determination module may include:

[0150] A judgment submodule, configured to judge whether there is a target toll station between sections of different road grades in the navigation route information;

[0151] a first switching point submodule, configured to, when determining that a target toll station exists between road sections of different road grades in the navigation route information, determine the target toll station as a switching point for the target assisted driving mode;

[0152] The second switching point submodule is used to determine the switching point of the target assisted driving mode according to the road segment type in the navigation route information when it is determined that there is no target toll station between the road segments of different road grades in the navigation route information.

[0153] In an embodiment of the present invention, when detecting that a target vehicle has activated assisted driving, the map status of one or more associated maps of the assisted driving is obtained; the road grade of the road on which the target vehicle is currently located is determined; the target assisted driving mode of the target vehicle is determined based on the map status and / or the road grade; and assisted driving is started according to the target assisted driving mode, thereby achieving the safe start of assisted driving in the map overlap area and avoiding vehicle safety accidents.

[0154] An embodiment of the present invention further provides a vehicle, which may include a processor, a memory, and a computer program stored in the memory and capable of running on the processor. When the computer program is executed by the processor, the steps of the above vehicle assisted driving method are implemented.

[0155] An embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the above-mentioned vehicle assisted driving method are implemented.

[0156] As for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0157] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0158] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, apparatus, or computer program products. Thus, embodiments of the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Furthermore, embodiments of the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0159] The embodiments of the present invention are described with reference to the flowcharts and / or block diagrams of the methods, terminal devices (systems), and computer program products according to the embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of the processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing terminal device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing terminal device generate instructions for implementing the process in the flowchart and / or block diagram. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0160] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing terminal device to operate in a specific manner, so that the instructions stored in the computer readable memory produce a manufactured product including an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0161] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal device so that a series of operating steps are executed on the computer or other programmable terminal device to produce a computer-implemented process, thereby providing instructions for executing on the computer or other programmable terminal device to implement the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0162] Although the preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments once they become aware of the basic creative concepts. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the embodiments of the present invention.

[0163] Finally, it should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or terminal device that includes a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or terminal device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article, or terminal device that includes the element.

[0164] The above is a detailed introduction to the method and device for assisted vehicle driving provided. Specific examples are used herein to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core ideas. At the same time, for those skilled in the art, according to the ideas of the present invention, there may be changes in the specific implementation methods and application scopes. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A vehicle assisted driving method, characterized in that: The method comprises: Upon detecting that a target vehicle has activated assisted driving, obtaining a map status of one or more associated maps for the assisted driving, the multiple associated maps including a first map and a second map, the first map using an electronic horizon to obtain map data on a path ahead of the vehicle, and the second map using a grid-loaded Map API to obtain map data surrounding the vehicle; Determining the road grade of the road on which the target vehicle is currently located; determining a target assisted driving mode for the target vehicle according to the map state and / or the road grade; Start assisted driving according to the target assisted driving mode; Wherein, determining the target assisted driving mode of the target vehicle according to the map state and / or the road grade includes: When the map states of the first map and the second map are both normal, if the road grade is a first preset road grade, determining that the target assisted driving mode of the target vehicle is the first preset assisted driving mode; If the road grade is the second preset road grade, the target assisted driving mode of the target vehicle is determined to be the second preset assisted driving mode.

2. The method according to claim 1, characterized in that Also includes: During the assisted driving of the target vehicle, obtaining navigation route information of the target vehicle; When detecting that sections of different road grades exist in the navigation route information, determining a switching point of the target assisted driving mode; When the target vehicle travels to the switching point, the target assisted driving mode is switched to the assisted driving mode corresponding to the next road segment.

3. The method according to claim 1 or 2, characterized in that The determining, according to the map state and / or the road grade, a target assisted driving mode of the target vehicle includes: When the map state of the first map is a normal state and the map state of the second map is an abnormal state, the target assisted driving mode of the target vehicle is determined to be a first preset assisted driving mode.

4. The method according to claim 1 or 2, characterized in that The determining, according to the map state and / or the road grade, a target assisted driving mode of the target vehicle includes: When the map state of the first map is an abnormal state and the map state of the second map is a normal state, if the road grade is a first preset road grade, exiting the assisted driving; If the road grade is the second preset road grade, the target assisted driving mode is determined to be the second preset assisted driving mode.

5. The method according to claim 2, characterized in that Determining the switching point of the target assisted driving mode includes: Determining whether there is a target toll station between road sections of different road grades in the navigation route information; When it is determined that a target toll station exists between road sections of different road grades in the navigation route information, determining the target toll station as a switching point for the target assisted driving mode; When it is determined that there is no target toll station between road sections of different road grades in the navigation route information, a switching point of the target assisted driving mode is determined according to the road section type in the navigation route information.

6. A vehicle assisted driving device, characterized in that: The device comprises: a map status acquisition module, configured to acquire the map status of one or more associated maps for the assisted driving upon detecting that the target vehicle has activated assisted driving, wherein the multiple associated maps include a first map and a second map, wherein the first map acquires map data on the path ahead of the vehicle using an electronic horizon, and the second map acquires map data around the vehicle using a grid-loaded Map API; A road grade determination module, configured to determine the road grade of the road on which the target vehicle is currently located; an assisted driving mode determination module, configured to determine a target assisted driving mode of the target vehicle according to the map state and / or the road grade; An assisted driving starting module, configured to start assisted driving according to the target assisted driving mode; a first mode determination submodule, configured to, when the map states of the first map and the second map are both normal, determine that the target assisted driving mode of the target vehicle is the first preset assisted driving mode if the road grade is a first preset road grade; The second mode determination submodule is configured to determine that the target assisted driving mode of the target vehicle is the second preset assisted driving mode if the road grade is the second preset road grade.

7. The device according to claim 6, characterized in that The device further comprises: A navigation route acquisition module is used to obtain navigation route information of the target vehicle during the assisted driving process of the target vehicle; a switching point determination module, configured to determine a switching point of the target assisted driving mode when detecting that sections of different road grades exist in the navigation route information; A mode switching module is used to switch the target assisted driving mode to the assisted driving mode corresponding to the next road segment when the target vehicle travels to the switching point.

8. The device according to claim 7, characterized in that The switching point determination module includes: A judgment submodule, configured to judge whether there is a target toll station between sections of different road grades in the navigation route information; a first switching point submodule, configured to, when determining that a target toll station exists between road sections of different road grades in the navigation route information, determine the target toll station as a switching point for the target assisted driving mode; The second switching point submodule is used to determine the switching point of the target assisted driving mode according to the road segment type in the navigation route information when it is determined that there is no target toll station between the road segments of different road grades in the navigation route information.

9. A vehicle, characterized in that: The method comprises a processor, a memory, and a computer program stored in the memory and capable of running on the processor, wherein when the computer program is executed by the processor, the method for vehicle assisted driving as claimed in any one of claims 1 to 5 is implemented.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the vehicle assisted driving method according to any one of claims 1 to 5 is implemented.

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